Event-Triggered Consensus of Second-Order Time-Delayed Nonlinear Multi-Agent Systems
Considering a second-order nonlinear multi-agent systems with time-delayed,this paper investigates the leader-following consensus problem for this system under a fixed directed topology.In order to save the communication and computation resources of the system,a distributed consensus control protocol based on event trig-gering mechanism is presented.A corresponding event triggering condition is designed for each agent,and the agent updates the controller only when the triggering condi-tion is satisfied,the frequency of updating information among the agents is effectively reduced.Some sufficient conditions for the multi-agent system with time-delayed to achieve leader-following consensus are given using graph theory,matrix theory and Lyapunov stability theory,and the Zeno behavior of the system is strictly excluded.Finally,the feasibility and effectiveness of the proposed control protocol are verified by simulation results.
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